ConfigAmpFault.cpp

#include "rsi.h" // Import our RapidCode Library. 
#include "HelperFunctions.h"                        // Import our SampleApp helper functions. 
using namespace RSI::RapidCode;



void configAmpFaultMain()
{
    const int AXIS_NUMBER = 0;
    const int ACTIVE_HIGH = 1;
    const int ACTIVE_LOW = 0;
    const int ENABLED = 1;
    const int DISABLED = 0;
    const int AMP_FAULT_DURATION_TIME = 1; //value in seconds

    // initialize RsiController class
    MotionController *controller = MotionController::CreateFromSoftware();
    SampleAppsCPP::HelperFunctions::CheckErrors(controller);

    // initialize RsiAxis class  
    Axis *axis = controller->AxisGet(AXIS_NUMBER);
    SampleAppsCPP::HelperFunctions::CheckErrors(axis);

    axis->AmpEnableSet(false);
    try
    {
        SampleAppsCPP::HelperFunctions::StartTheNetwork(controller);            // [Helper Function] Initialize the network.

        //To change AMP_FAULT characteristicpp:
        axis->AmpFaultActionSet(RSIActionABORT);
        printf("\n AMP_FAULT Action set to ABORT\n");

        axis->AmpFaultTriggerStateSet(ACTIVE_LOW);
        printf("\n AMP_FAULT Trigger State set to ACTIVE_LOW\n");

        axis->AmpFaultDurationSet(AMP_FAULT_DURATION_TIME);
        printf("\n AMP_FAULT Duration set to 1.0 second\n");
    }
    catch (RsiError const& err)
    {
        printf("\n%s\n", err.text);
    }
    controller->Delete();                                   // Delete the controller as the program exits to ensure memory is deallocated in the correct order.
    system("pause");                                        // Allow time to read Console.
}